CN101653396A - robot for transferring and transporting patients - Google Patents

robot for transferring and transporting patients Download PDF

Info

Publication number
CN101653396A
CN101653396A CN200910070438A CN200910070438A CN101653396A CN 101653396 A CN101653396 A CN 101653396A CN 200910070438 A CN200910070438 A CN 200910070438A CN 200910070438 A CN200910070438 A CN 200910070438A CN 101653396 A CN101653396 A CN 101653396A
Authority
CN
China
Prior art keywords
arm
mobile
transferring
robot
screw
Prior art date
Application number
CN200910070438A
Other languages
Chinese (zh)
Other versions
CN101653396B (en
Inventor
张西正
侍才洪
康少华
李瑞欣
郭勇
关静
武继民
李志宏
宁波
黄姝杰
Original Assignee
中国人民解放军军事医学科学院卫生装备研究所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国人民解放军军事医学科学院卫生装备研究所 filed Critical 中国人民解放军军事医学科学院卫生装备研究所
Priority to CN2009100704386A priority Critical patent/CN101653396B/en
Publication of CN101653396A publication Critical patent/CN101653396A/en
Application granted granted Critical
Publication of CN101653396B publication Critical patent/CN101653396B/en

Links

Abstract

The invention belongs to the technical field of medical appliances and relates to a robot for transferring and transporting patients, which comprises a vehicle frame 12, an omnidirectional running system, a transferring arm 2, an arm supporting frame 4, a horizontal moving mechanism, a folded lifting mechanism, a main controller and a control box, wherein the omnidirectional running system, the transferring arm 2, the arm supporting frame 4, the horizontal moving mechanism, the folded lifting mechanism and the main controller are installed on the vehicle frame 12; the control box can be in wireless communication with the main controller; the folded lifting mechanism is positioned between the vehicle frame 12 and the arm supporting frame 4; the transferring arm 2 is put on the arm supporting frame 4 and moves through the horizontal moving mechanism; and the transferring arm comprises two or more than two sub arms 22 with the same structure. The robot of the invention can be used for achieving the purpose of mechanically transporting patients among operation tables, sickbeds or inspection equipment without applying external force by nursing personnel or family members, and the wholeprocess of transferring patients has no need of changing the body postures, thereby avoiding pain and re-injury to patients.

Description

Robot for transferring and transporting patients
Technical field
The invention belongs to the medical robot field, be specifically related to a kind of robot that is used for the sick and wounded of hospital short distance transfer transhipment between sick bed, operation table, checkout facility.
Background technology
For a long time, the severely injured patient that extensive accident causes, and the bed that changes of the especial patients such as severe case, particularly some spinal fractures of being in hospital is abnormally dangerous, as to bother processes.At home, the sick and wounded's transhipment is mainly still prolonged with traditional mode, relies on medical personnel or family members that the patient is lifted, holds up, embraces on sick bed, stretcher or wheel Wheel-chair, causes very big difficulty to medical personnel, greatly reduces the human resources's of hospital service efficiency.Studies show that a large amount of nursing stafves is not engaged in the sick and wounded's transhipment and mobile working by external tool, the waist muscle that can seriously strain produces the permanent pain of injury.In addition, in a dead lift patient process, owing to the careless manipulation or the unequal reason of exerting oneself, can cause patient's pain, especially just the special examined of patient who perform the operation and critical patient, move, the picking of rotated bed, operation and anesthesia front and back, be easy to cause damage again, directly threaten patient's life.
In 20 end of the centurys, research institution works out auxiliary transporter and transfer car(buggy) in succession both at home and abroad, and a kind of is by place special sheet or mattress in advance under patient's body, transporter and sheet or mattress are fixed, implement transhipment, its process complexity wastes time and energy.Another kind is that transporters such as slip bed board or mobile stretcher are integrated on the trolley for hospital use, constitute transfer car(buggy), transshipment acitivity car body relatively moves horizontally, but in transport process, need to move or the inclination patient's body, bring pain to the patient inevitably.
Summary of the invention
The objective of the invention is to overcome the above-mentioned deficiency of prior art, a kind of sick and wounded are provided closely Handling device, to solve the sick and wounded at sick bed, operating-table, the problem of transfer transhipment between the checkout facility, robot for transferring and transporting patients of the present invention, carry out by electric device fully, only needing a nursing staff to operate control box can finish, in whole sick and wounded's transfer and transport process, need not the nursing staff or family members apply external force, realize the sick and wounded in the motion and location transhipment that need not to change painless transfer and any direction under the situation of attitude, use simultaneously meets the transfer transhipment robot that the operating room sterilization requires again.
For this reason, the present invention adopts following technical scheme:
A kind of robot for transferring and transporting patients, comprise vehicle frame 12, be installed in omnidirectional's running gear on the vehicle frame 12, transfer arm 2, arm supporting bracket 4, horizontal mobile mechanism, folding lifting mechanism, master controller and and master controller between can carry out wireless telecommunications control box, it is characterized in that, folding lifting mechanism is between vehicle frame 12 and arm supporting bracket 4, transfer arm 2 is placed on the arm supporting bracket 4, and moves by horizontal mobile mechanism; Described transfer arm comprises the sub-arm 22 that two or more structures are identical, each sub-arm 22 is connected cover 21 by arm connecting rod 41 and is connected as a single entity with arm, each sub-arm 22 is divided into two-layer up and down, cocycle band 35 is through the deflector roll 40 of arm front end, arm front end upper backup pad 47, upper backup pad 34, holder rod 36, cylinder 30, regulate rod 29 and constitute circulation, arm front end upper backup pad 47 is fixed in above the sub-arm 22 front end inclined-planes, arm front end lower supporting plate 39 is fixed in below the cocycle band 35, arm drive motors 31 is fixed in and is subjected to electric machine controller 44 controls on the motor bracing frame 32, the gear 45 that cooperatively interacts is installed on arm drive motors 31 and the cylinder 30, cocycle band 35 is by drum driven, following tape loop 37 constitutes circulation through holder rod 36 and lower supporting plate 38, its driving force is from described horizontal mobile mechanism, and the cocycle band is opposite with the following tape loop direction of motion.
As preferred implementation, robot for transferring and transporting patients of the present invention, cylinder 30 and holder rod 36 outer surfaces compacting rubber layer, deflector roll 40 is regulated on the rod 29 preloading spring 42 is installed by the segmentation bearings;
Described horizontal mobile mechanism comprises horizontal drive motor 19 and the screw pair that is fixed in arm supporting bracket 4 middle parts, described screw pair comprises and is symmetrically arranged in horizontal drive motor both sides and is fixed on counterclockwise screw 54 and screw 50 clockwise on the arm supporting bracket 4, screw nut 3 and clockwise screw nut 20 pass feed screw nut chute 51 respectively and are connected in counterclockwise screw 54 and clockwise screw 50 counterclockwise, horizontal drive motor 19 is connected at arm supporting bracket 4 inner and clockwise screws 50 with sprocket wheel 28 by chain 27, is connected at arm supporting bracket 4 outside and counterclockwise screws 54;
Robot for transferring and transporting patients according to claim 1, it is characterized in that: described folding lifting mechanism, comprise mobile vertical rod 14 and fixedly vertical rod 18, oscillating bearing 24 is equipped with at the two ends of mobile vertical rod 14 and fixedly vertical rod 18 respectively, fixedly the lower end of vertical rod 18 links to each other with vehicle frame, the upper end links to each other with the fixed transverse rod 52 that is fixed on arm supporting bracket 4, mobile vertical rod 14 lower ends are connected in down mobile cross bar 23, the two ends of mobile cross bar 23 are connected on the vehicle frame by linear bearing 26 respectively down, mobile vertical rod 14 upper ends are connected in mobile cross bar 11, going up mobile cross bar 11 two ends places in the trapezoidal chute 6 by trapezoidal roller 7, lifting motor 5 and elevating screw 55 coaxial installations, elevating screw nut 8 is installed on the nut holder 9, nut holder 9 is connected in mobile cross bar 11 by oscillating bearing 24, slide block 10 lower ends are connected in mobile cross bar 11 by oscillating bearing 24, and the upper end is supported by balladeur train 53.
Robot for transferring and transporting patients according to claim 1, it is characterized in that: described omnidirectional running gear is made of four mecanum wheels 13, each mecanum wheel 13 is respectively driven by a reducing motor 19, described mecanum wheel is made of spoke and a plurality of small rollers that are fixed on periphery, angle between spoke and the small roller is 45 °, each wheel has three degree of freedom, one is to rotate around the wheel axle center, second is to rotate around the small roller axle center, and the 3rd is the contact point rotation around wheel and ground.Wheel is by motor-driven, all the other two degree of freedom freely-movables;
Described control box is integrated key panel 56, stick 58, reset switch 59, power supply indicator 60, alarm lamp 61, emergency stop switch 62, wireless transmitter module and microprocessor;
Described master controller 43 receives the signal of control box by radio communication, the collection of signals such as the monitoring of master controller 43 responsible whole system states and position sensor 46, judge by system running state whether the transmission data are effective, the invalid executable operations of then refusing is instructed, show fault, effective then operational order is changed into the fill order of sub-controller 44, master controller 43 and arm drive motor controller 44 are carried out the transmitted in both directions of order and information by the CAN bus.
The cocycle band of the transfer arm that the present invention adopts obtains a speed V with respect to the transfer arm by motor-driven 1Following tape loop does not have independently driving, its power is from the subsidiary driving force of screw, infra tape loop inner surface and lower panel form internal friction, following tape loop outer surface and arm supporting bracket or bed surface form external friction power, reduce the transfer arm and insert the patient body resistance in following time, also changed the way of contact simultaneously.The cocycle band horizontal movement speed V of transfer arm 1With the secondary horizontal movement speed of screw V 2Identical, direction is opposite, then changes to arm and inserts patient body following time, and is static with the relative patient of cocycle band of patient's contact portion, do not produce frictional force.
Transfer arm by robot for transferring and transporting patients of the present invention, can realize between operation table, sick bed or the checkout facility mechanical handing to the sick and wounded, need not the nursing staff or family members apply external force, need not to change the attitude of health in whole sick and wounded's transfer process, avoid bringing painful and damage again to the patient.Omnidirectional's running gear that walking mechanism adopts the mecanum wheel to constitute can any direction walking, is adapted at walking in the narrow passage of hospital, can realize the microspur location, help and operating-table, checkout facility between seamless link.
Robot for transferring and transporting patients of the present invention adopts electrified design fully, and software adopts the initialize program design, and is simple to operation.Thoroughly nursing staff and family members are freed from heavy transfer transhipment work, accumulate experience and technological reserve for intelligent and the utonomous working type sick and wounded change a development of transhipment robot.
Description of drawings
Fig. 1 robot for transferring and transporting patients explosive view.
Fig. 2 robot for transferring and transporting patients isometry is surveyed view.
Fig. 3 height and horizontal adjustment view.
Fig. 4 arm cutaway view.
Fig. 5 arm assembling perspective view.
Fig. 6 arm supporting bracket cutaway view.
Fig. 7 control box 3-D view.
The automatically controlled block diagram of Fig. 8 robot for transferring and transporting patients.
Among Fig. 1-Fig. 7: 1 drip stand, 2 transfer arms, 3 counterclockwise screw nuts, 4 arm supporting brackets, 5 lifting motors, 6 trapezoidal chutes, 7 trapezoidal rollers, 8 elevating screw nuts, 9 nut holders, 10 slide blocks, mobile cross bar on 11,12 vehicle frames, the 13mecanum wheel, 14 move vertical rod, and 15 move the vertical rod cover, 16 folding rod connecting rods, 17 fixing vertical rod covers, 18 fixedly vertical rods, 19 horizontal drive motors, 20 clockwise screw nuts, 21 arms connect cover, 22 sub-arms, 23 times mobile cross bars, 24 oscillating bearings, 25 accumulator, 26 linear bearings, 27 chains, 28 sprocket wheels, 29 regulate rod, 30 cylinders, 31 arm drive motors, 32 motor bracing frames, 33 arm side plates, 34 upper backup pads, 35 cocycle bands, 36 holder rods, 37 times tape loops, 38, lower supporting plate, 39 arm front end lower supporting plates, 40 deflector rolls, 41 3 arm connecting rods, 42 preloading springs, 43 master controllers, 44 electric machine controllers, 45 gears, 46 position sensors, 47 arm front end upper backup pads, 48 support panels, 49 support bars, 50 clockwise screws, 51 feed screw nut chutes, 52 fixed transverse rods, 53 balladeur trains, 54 counterclockwise screws, 55 elevating screws, 56 key panels, 57 housings, 58 sticks, 59 reset switches, 60 power supply indicators, 61 alarm lamps, 62 emergency stop switch, 63 radio communication windows.
The specific embodiment
The invention will be further described below in conjunction with drawings and Examples.
By Fig. 1-Fig. 7 as can be known, a kind of robot for transferring and transporting patients comprises: vehicle frame 12, running gear (Fig. 1), collapsible elevating mechanism (14-18), horizontal mobile mechanism (Fig. 3), arm supporting bracket (Fig. 6), transfer arm (Fig. 4,5), drip stand 1.
Omnidirectional's running gear is made of four mecanum wheels 13, each mecanum wheel 13 is by a motor-driven, motor is installed on vehicle frame 12 mount pads, vehicle frame 12 is whole die sinking, increase the structural strength of car body, accumulator 25 is positioned over vehicle frame 12 bottoms, reduces the robot center of gravity, helps the stability of robot operation.The mecanum wheel is made of spoke and the many small rollers that are fixed on periphery, angle α between spoke and the small roller is generally 45 °, each wheel has three degree of freedom, one is to rotate around the wheel axle center, second is to rotate around the small roller axle center, and the 3rd is the contact point rotation around wheel and ground.Wheel is by motor-driven, all the other two degree of freedom freely-movables.Synthetic by four direction of motor rotation and speed realized moving of robot omnibearing, and non-rotating radius is adapted at moving in hospital's catwalk, arrive the target location after, allow robot dock by rotation or action such as traversing with target.
Collapsible elevating mechanism is by mobile vertical rod 14, mobile vertical rod cover 15, fixedly vertical rod 18, fixedly vertical rod cover 17, folding rod connecting rod 16, lifting motor 5, elevating screw 55, elevating screw nut 8, nut holder 9, trapezoidal chute 6, trapezoidal roller 7, slide block 10, last mobile cross bar 11, time mobile cross bar 23, fixed transverse rod 52, oscillating bearing 24, linear bearing 26 are formed.Mobile vertical rod 14 is inserted in the mobile vertical rod cover 15, and fixedly vertical rod 18 is inserted in the fixedly vertical rod cover 17, increases the structural strength of vertical rod, and mobile vertical rod is overlapped 15 and overlapped 17 with fixing vertical rod and be connected by folding rod connecting rod 16.Mobile vertical rod 14 and fixedly vertical rod 18 two ends oscillating bearing 24 is housed, fixedly vertical rod 18 is connected on vehicle frame and the fixed transverse rod 52, mobile vertical rod 14 lower ends are connected in down mobile cross bar 23, linear bearing 26 is equipped with at mobile cross bar 23 two ends down, be connected on the vehicle frame, mobile vertical rod 14 upper ends are connected in mobile cross bar 11, go up mobile cross bar 11 two ends trapezoidal roller 7 is housed, be connected in the trapezoidal chute 6, lifting motor 5 and elevating screw 55 coaxial installations, elevating screw nut 8 is installed on the nut holder 9, nut holder 9 is connected in mobile cross bar 11 by oscillating bearing 24, slide block 10 lower ends are connected in mobile cross bar 11 by oscillating bearing 24, and the upper end is supported by balladeur train 53.By regulating the height realization arm of collapsible elevating mechanism and docking fully of bed surface, lifting motor 5 operations drive elevating screw 55 rotations, 8 horizontal movements of elevating screw nut, last mobile cross bar 11 horizontal movement in chute that is attached thereto, slide block 10 is along balladeur train 53 horizontal movements, drive the motion in the other direction of down mobile cross bar 23 simultaneously, realize the adjusting of arm vertical dimension.Slide block 10 is main gives last mobile cross bar 11 intermediate supports, prevents that its span is big and is out of shape, thereby influence elevating screw pair 55,8 service behaviours.
Transfer arm 2 is connected cover 21, sub-arm 22, arm drive motors 31, motor bracing frame 32, arm side plate 33, upper backup pad 34, cocycle band 35, is ask rod 36, following tape loop 37, lower supporting plate 38, arm front end lower supporting plate 39, deflector roll 40, three arm connecting rods 41, preloading spring 42, electric machine controller 44, gear 45, position sensor 46, arm front end upper backup pad 47, support panel 48 to form by arm.Whole transfer arm is divided into three sub-arms 22, is connected cover 21 with arm by three arm connecting rods 41 and connects into as a whole.Drip stand 1 is installed on arm and connects upper end, cover 21 outsides, and master controller 43, arm drive motor controller 44 and motor bracing frame 32 are installed on arm and are connected upper end, cover 21 the insides, and arm drive motors 31 is installed on the motor bracing frame 32.Arm front end upper backup pad 47 is installed on above the sub-arm 22 front end inclined-planes, arm front end lower supporting plate 39 is installed on below the cocycle band 35, main effect is that the cocycle band 35 that prevents the arm front end contacts with bed surface, reduce cocycle band 35 running resistances, avoid object such as sheet to be involved in the sub-arm 22.The transfer arm of present embodiment is divided into three independently sub-arms, also can be designed to two or four or more independent sub-arm.
Each sub-arm 22 is divided into two-layer up and down, every layer is equipped with tape loop 35,37, cocycle band 35 constitutes circulation through arm front end deflector roll 40, arm front end upper backup pad 47, upper backup pad 34, holder rod 36, cylinder 30, adjusting rod 29, regulate on the rod 29 preloading spring 42 is installed, main pretightning force of regulating cocycle band 35, in order to make insertion effective, it is tiny that deflector roll 40 must be done, but the span conference makes its distortion, so adopt the segmentation bearings.Following tape loop 37 constitutes circulation through holder rod 36 and lower supporting plate 38.On arm drive motors 31 and the cylinder 30 gear 45 is installed.Cocycle band 35 is by drum driven, and following tape loop 37 does not have driving.
Following tape loop 37 does not have independently driving, its power is from the driving force of screw pair 3,50,20,54, infra tape loop 37 inner surfacies and lower panel form internal friction, following tape loop 37 outer surfaces and arm supporting bracket 4 or bed surface form external friction power, mainly be to reduce transfer arm 2 to insert sick and wounded's health resistance in following time, also changed the way of contact simultaneously.
Cocycle band 35 is driven by arm drive motors 31, obtains a speed V with respect to transfer arm 2 1, screw pair 3,50,20,54 horizontal movement speed are V 2, work as V 1And V 2The direction of motion is opposite, and is static with the relative patient of cocycle band of patient's contact portion when speed is identical, do not produce frictional force.
Horizontal drive mechanism comprises horizontal drive motor 19, clockwise screw 50, counterclockwise screw 54, counterclockwise screw nut 3, clockwise screw nut 20, chain 27 and sprocket wheel 28 etc.Counterclockwise screw nut 3 is installed on arm with clockwise screw nut 20 symmetries and is connected on cover 21 trailing flanks, pass feed screw nut chute 51 and be connected in counterclockwise screw 54 and clockwise screw 50, screw 54 and clockwise screw 50 symmetries are installed on the arm supporting bracket 4 counterclockwise, horizontal drive motor 19 is installed on arm supporting bracket 4 middle parts, be connected at arm supporting bracket 4 inner and clockwise screws 50 with sprocket wheel 28 by chain 27, be connected at arm supporting bracket 4 outside and counterclockwise screws 54, this kind mounting means mainly is a structure of considering arm supporting bracket 4, make full use of available space, reduce physical dimension.
The transfer arm 2 following several duty is arranged: 1. the sick and wounded on one's sick bed, arm shovels under the human body body; 2. arm moves to the sick and wounded in the robot under sick and wounded's body; 8. the sick and wounded are in robot, and arm is sent on the sick bed; 4. arm is under sick and wounded's body, and arm is got back in the robot.During first kind of duty, horizontal drive motor 19 turns clockwise, drive counterclockwise screw 54 and screw 50 rotations clockwise by chain 27 and sprocket wheel 28, because screw 54 and clockwise screw 50 are arranged symmetrically in horizontal drive motor 19 both sides counterclockwise, the counterclockwise screw nut 3 that then is attached thereto is consistent with the direction of motion of clockwise screw nut 20, the place ahead towards arm motion, promoting transfer arm 2 advances, following tape loop 37 and arm supporting bracket 4, form external friction power between the bed surface, following tape loop 37 and holder rod 36, lower supporting plate 38 forms internal friction, when external friction power during greater than internal friction, following tape loop 37 rolling-operations; Internal friction is during greater than external friction power, following tape loop 37 sliding and runnings, and the purpose of this kind design is to reduce arm to insert sick and wounded's body frictional resistance in following time.Simultaneously, arm drive motors 31 turns clockwise, by 30 rotations of gear 45 head rolls, driving the cocycle band 35 that closely contacts with it is rotated counterclockwise, the horizontal movement speed of cocycle band generation 35 this moment is identical with screw nut 3,20 horizontal pace sizes, and direction is opposite, and then cocycle band 35 and human body contact portion are zero with respect to the speed of sick bed, promptly do not produce kinetic friction force, avoided transfer arm 2 to insert sick and wounded's body following time and caused pain; During second kind of duty, horizontal drive motor 19 is rotated counterclockwise, and drives transfer arm 2 toward robot direction motion, and arm drive motors 31 keeps static simultaneously; During the third duty, horizontal drive motor 19 turns clockwise, and drives transfer arm 2 toward the motion of sick bed direction, and arm drive motors 31 keeps static simultaneously; During the 4th kind of duty, horizontal drive motor 19 is rotated counterclockwise, drive transfer arm 2 toward robot direction motion, arm drive motors 31 is rotated counterclockwise simultaneously, the horizontal movement speed of cocycle band generation 35 this moment is identical with screw nut 3,20 horizontal pace sizes, direction is opposite, guarantees that cocycle band 35 and human body contact portion are zero with respect to the speed of sick bed, makes transfer arm 2 detach sick and wounded's body following time and does not produce kinetic friction force.The design of transfer arm 2 mainly is to realize that the sick and wounded need not to change painless transhipment under the situation of body posture.Position sensor 46 is the distance of restriction transfer arm 2 level runs and vertical lift, prevents to change to the health that arm 2 is crossed the athletic injury sick and wounded.
Control box (Fig. 7) mainly is made up of key panel 56, housing 57, stick 58, reset switch 59, power supply indicator 60, alarm lamp 61, emergency stop switch 62, radio communication window 63.Radio communication window 63 is on the control box drive end bearing bracket; Stick 58 is responsible for the control of omnidirectional's running gear; Key panel 56 is responsible for the operation of transfer arm 2, the lifting and the maintenance of car body; Emergency stop switch 62 is an emergency stop switch in emergency circumstances; Reset switch 59 is a reset key; Power supply indicator 60 is bright to be operate as normal; Alarm lamp 61 is bright to be the system failure.
The robot for transferring and transporting patients electric-control system designs as shown in Figure 8, and radio communication is adopted in communicating by letter of control box (Fig. 7) and robot, and the remote operation distance can reach 1000m, and control box obtains operational order, gives master controller 43 by wireless communication transmissions.The collection of signals such as the monitoring of master controller 43 responsible whole system states and position sensor 46, judge by system running state whether the transmission data are effective, the invalid executable operations of then refusing is instructed, effective then operational order is changed into the fill order of arm drive motor controller 44, give electric machine controller 44 by the CAN bus with command transfer, master controller 43 also obtains the information and the running status of sub-controller 44 by the CAN bus simultaneously.

Claims (7)

1. robot for transferring and transporting patients, comprise vehicle frame (12), be installed in omnidirectional's running gear on the vehicle frame (12), transfer arm (2), arm supporting bracket (4), horizontal mobile mechanism, folding lifting mechanism, master controller and and master controller between can carry out wireless telecommunications control box, it is characterized in that, folding lifting mechanism is positioned between vehicle frame (12) and the arm supporting bracket (4), transfer arm (2) is placed on the arm supporting bracket (4), and moves by horizontal mobile mechanism; Described transfer arm comprises the sub-arm (22) that two or more structures are identical, each sub-arm (22) is connected cover (21) by arm connecting rod (41) and is connected as a single entity with arm, each sub-arm (22) is divided into two-layer up and down, cocycle band (35) is through the deflector roll (40) of arm front end, arm front end upper backup pad (47), upper backup pad (34), holder rod (36), cylinder (30), regulate rod (29) and constitute circulation, arm front end upper backup pad (47) is fixed in above sub-arm (22) the front end inclined-plane, arm front end lower supporting plate (39) is fixed in below the cocycle band (35), arm drive motors (31) is fixed in and is subjected to electric machine controller (44) control on the motor bracing frame (32), the gear (45) that cooperatively interacts is installed on arm drive motors (31) and the cylinder (30), cocycle band (35) is by drum driven, following tape loop (37) constitutes circulation through holder rod (36) and lower supporting plate (38), its driving force is from described horizontal mobile mechanism, and the cocycle band is opposite with the following tape loop direction of motion.
2. robot for transferring and transporting patients according to claim 1 is characterized in that: cylinder (30) and holder rod (36) outer surface compacting rubber layer, deflector roll (40) is regulated on the rod (29) preloading spring (42) is installed by the segmentation bearings.
3. robot for transferring and transporting patients according to claim 1, it is characterized in that: described horizontal mobile mechanism comprises horizontal drive motor (19) and the screw pair that is fixed in arm supporting bracket (4) middle part, described screw pair comprises and is symmetrically arranged in horizontal drive motor both sides and is fixed on counterclockwise screw (54) and clockwise screw (50) on the arm supporting bracket (4), screw nut (3) and clockwise screw nut (20) pass feed screw nut chute (51) respectively and are connected in counterclockwise screw (54) and clockwise screw (50) counterclockwise, horizontal drive motor (19) is connected at the inner and clockwise screw (50) of arm supporting bracket (4) with sprocket wheel (28) by chain (27), is connected at the outside and counterclockwise screw (54) of arm supporting bracket (4).
4. robot for transferring and transporting patients according to claim 1, it is characterized in that: described folding lifting mechanism, comprise mobile vertical rod (14) and fixedly vertical rod (18), oscillating bearing (24) is equipped with at the two ends of mobile vertical rod (14) and fixedly vertical rod (18) respectively, the lower end of fixedly vertical rod (18) links to each other with vehicle frame, the upper end links to each other with the fixed transverse rod that is fixed on arm supporting bracket (4) (52), mobile vertical rod (14) lower end is connected in down mobile cross bar (23), the two ends of mobile cross bar (23) are connected on the vehicle frame by linear bearing (26) respectively down, mobile vertical rod (14) upper end is connected in mobile cross bar (11), going up mobile cross bar (11) two ends places in the trapezoidal chute (6) by trapezoidal roller (7), lifting motor (5) and the coaxial installation of elevating screw (55), elevating screw nut (8) is installed on the nut holder (9), nut holder (9) is connected in mobile cross bar (11) by oscillating bearing (24), slide block (10) lower end is connected in mobile cross bar (11) by oscillating bearing (24), and the upper end is supported by balladeur train (53).
5. robot for transferring and transporting patients according to claim 1, it is characterized in that: described omnidirectional running gear is taken turns (13) by four mecanum and is constituted, each is driven each mecanum wheel (13) by a reducing motor (19), described mecanum wheel is made of spoke and a plurality of small rollers that are fixed on periphery, angle between spoke and the small roller is 45 °, each wheel has three degree of freedom, one is to rotate around the wheel axle center, second is to rotate around the small roller axle center, and the 3rd is the contact point rotation around wheel and ground.Wheel is by motor-driven, all the other two degree of freedom freely-movables.
6. robot for transferring and transporting patients according to claim 1 is characterized in that: described control box is integrated key panel (56), stick (58), reset switch (59), power supply indicator (60), alarm lamp (61), emergency stop switch (62), wireless transmitter module and microprocessor.
7. robot for transferring and transporting patients according to claim 1, it is characterized in that: described master controller (43) receives the signal of control box by radio communication, master controller (43) is responsible for the monitoring of whole system state and the collection of position sensor signals such as (46), judge by system running state whether the transmission data are effective, the invalid executable operations of then refusing is instructed, show fault, effectively then operational order is changed into the fill order of sub-controller (44), master controller (43) and arm drive motor controller (44) are carried out the transmitted in both directions of order and information by the CAN bus.
CN2009100704386A 2009-09-15 2009-09-15 Robot for transferring and transporting patients CN101653396B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2009100704386A CN101653396B (en) 2009-09-15 2009-09-15 Robot for transferring and transporting patients

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2009100704386A CN101653396B (en) 2009-09-15 2009-09-15 Robot for transferring and transporting patients

Publications (2)

Publication Number Publication Date
CN101653396A true CN101653396A (en) 2010-02-24
CN101653396B CN101653396B (en) 2011-07-27

Family

ID=41708002

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2009100704386A CN101653396B (en) 2009-09-15 2009-09-15 Robot for transferring and transporting patients

Country Status (1)

Country Link
CN (1) CN101653396B (en)

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102616247A (en) * 2012-03-26 2012-08-01 哈尔滨工程大学 Train unhooking robot
CN104825295A (en) * 2015-04-23 2015-08-12 陈菊芳 Self-service type ascending-descending device
CN104825296A (en) * 2015-04-23 2015-08-12 陈菊芳 Shifting self-service lifting device
CN104921877A (en) * 2015-06-08 2015-09-23 哈尔滨理工大学 Robot for transferring wounded inpatient
CN104970938A (en) * 2015-08-06 2015-10-14 遂宁市长丰机械科技有限公司 Arm type holding bed
CN104983526A (en) * 2015-08-06 2015-10-21 遂宁市长丰机械科技有限公司 Convenient armchair
CN104997606A (en) * 2015-05-18 2015-10-28 廊坊瑞立达智能机器有限公司 Bedridden translation and transportation machine with integrated upper portion
CN105055091A (en) * 2015-08-06 2015-11-18 遂宁市长丰机械科技有限公司 Arm type transfer chair
CN105266997A (en) * 2015-10-23 2016-01-27 上海市第一人民医院 Medical auxiliary ferrying equipment
CN106142096A (en) * 2016-06-04 2016-11-23 浙江侍维波机器人科技有限公司 Carrying containing variable form mechanical arm and embrace the medical robot lifting the obesity patients
CN106264903A (en) * 2016-10-09 2017-01-04 珠海索奇电子科技有限公司 Safety car
CN106361520A (en) * 2016-10-17 2017-02-01 上海市第人民医院 Device for assisting transferring of patient
CN106420227A (en) * 2016-11-09 2017-02-22 燕山大学 Sitting and lying dual-purpose patient transfer machine
CN106625707A (en) * 2016-12-26 2017-05-10 燕山大学 Modular symmetric transferring and nursing robot
CN107468431A (en) * 2017-08-24 2017-12-15 镇江市高等专科学校 A kind of Medical handcart and its application method
CN108158756A (en) * 2017-12-26 2018-06-15 河南工程学院 A kind of medical robot and its control method
CN108594826A (en) * 2018-06-04 2018-09-28 北京智行者科技有限公司 Car body interface system
CN108743140A (en) * 2018-06-25 2018-11-06 北京恒信卓元科技有限公司 Cross bed apparatus and its application method
CN108743141A (en) * 2018-06-25 2018-11-06 北京恒信卓元科技有限公司 Bed apparatus and its application method are crossed with remote control
CN109124901A (en) * 2018-10-25 2019-01-04 无锡市第二人民医院 Automatically walk medical treatment bed system
CN109163881A (en) * 2018-08-20 2019-01-08 中车大连机车车辆有限公司 Vehicle passenger cab illumination testing device
CN109223384A (en) * 2018-09-04 2019-01-18 佛山市禅城区热拉空间生物科技有限公司 A kind of handling device of first-aid patients
CN111329696A (en) * 2020-03-13 2020-06-26 浙江佑仁智能机器人有限公司 Control system for transferring nursing robot

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201558247U (en) * 2009-09-15 2010-08-25 中国人民解放军军事医学科学院卫生装备研究所 Sick and wounded person transferring robot

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102616247A (en) * 2012-03-26 2012-08-01 哈尔滨工程大学 Train unhooking robot
CN104825295A (en) * 2015-04-23 2015-08-12 陈菊芳 Self-service type ascending-descending device
CN104825296A (en) * 2015-04-23 2015-08-12 陈菊芳 Shifting self-service lifting device
CN104997606A (en) * 2015-05-18 2015-10-28 廊坊瑞立达智能机器有限公司 Bedridden translation and transportation machine with integrated upper portion
CN104921877A (en) * 2015-06-08 2015-09-23 哈尔滨理工大学 Robot for transferring wounded inpatient
CN104970938A (en) * 2015-08-06 2015-10-14 遂宁市长丰机械科技有限公司 Arm type holding bed
CN104983526A (en) * 2015-08-06 2015-10-21 遂宁市长丰机械科技有限公司 Convenient armchair
CN105055091A (en) * 2015-08-06 2015-11-18 遂宁市长丰机械科技有限公司 Arm type transfer chair
CN105266997A (en) * 2015-10-23 2016-01-27 上海市第一人民医院 Medical auxiliary ferrying equipment
CN106142096A (en) * 2016-06-04 2016-11-23 浙江侍维波机器人科技有限公司 Carrying containing variable form mechanical arm and embrace the medical robot lifting the obesity patients
CN106264903A (en) * 2016-10-09 2017-01-04 珠海索奇电子科技有限公司 Safety car
CN106361520A (en) * 2016-10-17 2017-02-01 上海市第人民医院 Device for assisting transferring of patient
CN106420227B (en) * 2016-11-09 2018-11-23 燕山大学 Sitting-lying double-purpose transportation of patients machine
CN106420227A (en) * 2016-11-09 2017-02-22 燕山大学 Sitting and lying dual-purpose patient transfer machine
CN106625707B (en) * 2016-12-26 2019-02-22 燕山大学 The symmetrical nursing care of transportation robot of modularization
CN106625707A (en) * 2016-12-26 2017-05-10 燕山大学 Modular symmetric transferring and nursing robot
CN107468431A (en) * 2017-08-24 2017-12-15 镇江市高等专科学校 A kind of Medical handcart and its application method
CN108158756A (en) * 2017-12-26 2018-06-15 河南工程学院 A kind of medical robot and its control method
CN108594826A (en) * 2018-06-04 2018-09-28 北京智行者科技有限公司 Car body interface system
CN108743141A (en) * 2018-06-25 2018-11-06 北京恒信卓元科技有限公司 Bed apparatus and its application method are crossed with remote control
CN108743140A (en) * 2018-06-25 2018-11-06 北京恒信卓元科技有限公司 Cross bed apparatus and its application method
CN109163881A (en) * 2018-08-20 2019-01-08 中车大连机车车辆有限公司 Vehicle passenger cab illumination testing device
CN109223384A (en) * 2018-09-04 2019-01-18 佛山市禅城区热拉空间生物科技有限公司 A kind of handling device of first-aid patients
CN109223384B (en) * 2018-09-04 2020-08-11 江西中聚宏新材料科技有限公司 Carrying device for emergency patients
CN109124901A (en) * 2018-10-25 2019-01-04 无锡市第二人民医院 Automatically walk medical treatment bed system
CN111329696A (en) * 2020-03-13 2020-06-26 浙江佑仁智能机器人有限公司 Control system for transferring nursing robot

Also Published As

Publication number Publication date
CN101653396B (en) 2011-07-27

Similar Documents

Publication Publication Date Title
US10406043B2 (en) Transport apparatus
EP2819629B1 (en) Patient support
CN104127289B (en) Split type robot nursing bed having rehabilitation training function
CA1223702A (en) Hospital bed
US8359683B2 (en) Patient lift and transfer device
CN206044892U (en) Critically ill patient changes a shift unit
US4125908A (en) Invalid transfer lift
CN103054679B (en) Stand up assisting chair and utilize the method for Stand up assisting chair mobile human body
CN102824254B (en) Auxiliary nursing moving and taking device
US4654903A (en) Bedsore prevention device in an invalid bed arrangement
CN200994872Y (en) Electric multifunctional self-aid hospital bed
US20030121098A1 (en) Turning mechanism for a patient confined to a bed
CA1250542A (en) Apparatus for moving patient from bed
CA2647459C (en) Overhead conveyor
AU2006302675B2 (en) Patient lift and transfer device
CN101569584B (en) Medical transportation vehicle
AU754262B2 (en) Patient support
CN102805691B (en) A kind of Novel multifunctional medical wheel stretcher
CN103222915A (en) Stretcher vehicle capable of automatically and transversely moving patient
EP0858311B1 (en) An invalid lifting device
US20130116604A1 (en) Controlled-suspension standing device for medical and veterinary use
CN101234043A (en) Parallel joint walking-aid exoskeleton artificial limb suitable for paralytic patient
WO2008079874A1 (en) Lift system for a patient- support apparatus
US20050235415A1 (en) Aid for turning bedridden persons
CN104856808B (en) Patient ferry bed

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20110727

Termination date: 20170915